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  1. # Generated by stepconf 1.1 at Sun Jun 26 01:22:42 2011
  2. # If you make changes to this file, they will be
  3. # overwritten when you run stepconf again
  4. loadrt [KINS]KINEMATICS
  5. loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
  6. loadrt hal_parport cfg="0 out"
  7. setp parport.0.reset-time 5000
  8. loadrt stepgen step_type=0,0,0,0
  9. loadrt pwmgen output_type=1
  10.  
  11. addf parport.0.read base-thread
  12. addf stepgen.make-pulses base-thread
  13. addf pwmgen.make-pulses base-thread
  14. addf parport.0.write base-thread
  15. addf parport.0.reset base-thread
  16.  
  17. addf stepgen.capture-position servo-thread
  18. addf motion-command-handler servo-thread
  19. addf motion-controller servo-thread
  20. addf stepgen.update-freq servo-thread
  21. addf pwmgen.update servo-thread
  22.  
  23. net spindle-cmd-rpm => pwmgen.0.value
  24. net spindle-on <= motion.spindle-on => pwmgen.0.enable
  25. net spindle-pwm <= pwmgen.0.pwm
  26. setp pwmgen.0.pwm-freq 400
  27. setp pwmgen.0.scale 24000
  28. setp pwmgen.0.offset 0
  29. setp pwmgen.0.dither-pwm true
  30. net spindle-cmd-rpm <= motion.spindle-speed-out
  31. net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs
  32. net spindle-cmd-rps <= motion.spindle-speed-out-rps
  33. net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
  34. net spindle-at-speed => motion.spindle-at-speed
  35. net spindle-cw <= motion.spindle-forward
  36.  
  37. net spindle-pwm => parport.0.pin-01-out
  38. setp parport.0.pin-01-out-invert 1
  39. net xstep => parport.0.pin-02-out
  40.  
  41. net xdir => parport.0.pin-03-out
  42. net ystep => parport.0.pin-04-out
  43. setp parport.0.pin-04-out-reset 1
  44. net ydir => parport.0.pin-05-out
  45. net xostep => parport.0.pin-06-out
  46. setp parport.0.pin-06-out-reset 1
  47. net xodir => parport.0.pin-07-out
  48. net zstep => parport.0.pin-08-out
  49. setp parport.0.pin-08-out-reset 1
  50. net zdir => parport.0.pin-09-out
  51. net spindle-cw => parport.0.pin-17-out
  52.  
  53.  
  54.  
  55. net home-y <= parport.0.pin-12-in-not
  56. net home-x <= parport.0.pin-11-in-not
  57. net home-xo <= parport.0.pin-10-in-not
  58. net home-z <= parport.0.pin-13-in-not
  59.  
  60. setp stepgen.0.position-scale [JOINT_0]SCALE
  61. setp stepgen.0.steplen 1
  62. setp stepgen.0.stepspace 0
  63. setp stepgen.0.dirhold 25000
  64. setp stepgen.0.dirsetup 25000
  65. setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
  66. net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
  67. net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
  68. net xstep <= stepgen.0.step
  69. net xdir <= stepgen.0.dir
  70. net xenable joint.0.amp-enable-out => stepgen.0.enable
  71. net home-x => joint.0.home-sw-in
  72.  
  73. setp stepgen.1.position-scale [JOINT_1]SCALE
  74. setp stepgen.1.steplen 1
  75. setp stepgen.1.stepspace 0
  76. setp stepgen.1.dirhold 25000
  77. setp stepgen.1.dirsetup 25000
  78. setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
  79. net xopos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
  80. net xopos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
  81. net xostep <= stepgen.1.step
  82. net xodir <= stepgen.1.dir
  83. net xoenable joint.1.amp-enable-out => stepgen.1.enable
  84. net home-xo => joint.1.home-sw-in
  85.  
  86. setp stepgen.2.position-scale [JOINT_2]SCALE
  87. setp stepgen.2.steplen 1
  88. setp stepgen.2.stepspace 0
  89. setp stepgen.2.dirhold 25000
  90. setp stepgen.2.dirsetup 25000
  91. setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
  92. net ypos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
  93. net ypos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
  94. net ystep <= stepgen.2.step
  95. net ydir <= stepgen.2.dir
  96. net yenable joint.2.amp-enable-out => stepgen.2.enable
  97. net home-y => joint.2.home-sw-in
  98.  
  99. setp stepgen.3.position-scale [JOINT_3]SCALE
  100. setp stepgen.3.steplen 1
  101. setp stepgen.3.stepspace 0
  102. setp stepgen.3.dirhold 25000
  103. setp stepgen.3.dirsetup 25000
  104. setp stepgen.3.maxaccel [JOINT_2]STEPGEN_MAXACCEL
  105. net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
  106. net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
  107. net zstep <= stepgen.3.step
  108. net zdir <= stepgen.3.dir
  109. net zenable joint.3.amp-enable-out => stepgen.3.enable
  110. net home-z => joint.3.home-sw-in
  111.  
  112. net estop-out <= iocontrol.0.user-enable-out
  113. net estop-out => iocontrol.0.emc-enable-in
  114.  
  115. loadusr -W hal_manualtoolchange
  116. net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
  117. net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
  118. net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
  119. net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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